From b095331a51cf5a5e9657b61028c8ed09e42e2735 Mon Sep 17 00:00:00 2001 From: morris Date: Tue, 8 Apr 2025 17:35:04 +0800 Subject: [PATCH] fix(mcpwm): the wrong pm lock type on esp32 and esp32s3 --- components/esp_driver_gptimer/Kconfig | 2 +- components/esp_driver_mcpwm/Kconfig | 45 +++++++++++++------ components/esp_driver_mcpwm/linker.lf | 6 +++ components/esp_driver_mcpwm/sdkconfig.rename | 4 ++ components/esp_driver_mcpwm/src/mcpwm_cap.c | 32 +++---------- components/esp_driver_mcpwm/src/mcpwm_cmpr.c | 29 +++--------- components/esp_driver_mcpwm/src/mcpwm_com.c | 41 +++++++++-------- components/esp_driver_mcpwm/src/mcpwm_etm.c | 18 +------- components/esp_driver_mcpwm/src/mcpwm_fault.c | 30 ++----------- components/esp_driver_mcpwm/src/mcpwm_gen.c | 23 +--------- components/esp_driver_mcpwm/src/mcpwm_oper.c | 32 +++---------- .../esp_driver_mcpwm/src/mcpwm_private.h | 29 ++++++++---- components/esp_driver_mcpwm/src/mcpwm_sync.c | 25 +---------- components/esp_driver_mcpwm/src/mcpwm_timer.c | 29 ++---------- .../test_apps/mcpwm/main/CMakeLists.txt | 2 +- .../test_apps/mcpwm/main/test_mcpwm_utils.h | 4 +- .../test_apps/mcpwm/pytest_mcpwm.py | 2 +- ...g.ci.iram_safe => sdkconfig.ci.cache_safe} | 2 +- .../test_apps/mcpwm/sdkconfig.ci.release | 1 + .../test_apps/pulse_cnt/sdkconfig.ci.release | 1 + components/soc/esp32/mcpwm_periph.c | 4 +- components/soc/esp32c5/mcpwm_periph.c | 2 +- components/soc/esp32c6/mcpwm_periph.c | 2 +- components/soc/esp32h2/mcpwm_periph.c | 2 +- components/soc/esp32p4/mcpwm_periph.c | 4 +- components/soc/esp32s3/mcpwm_periph.c | 4 +- components/soc/include/soc/mcpwm_periph.h | 2 +- docs/en/api-reference/peripherals/mcpwm.rst | 4 +- .../zh_CN/api-reference/peripherals/mcpwm.rst | 4 +- 29 files changed, 133 insertions(+), 252 deletions(-) create mode 100644 components/esp_driver_mcpwm/sdkconfig.rename rename components/esp_driver_mcpwm/test_apps/mcpwm/{sdkconfig.ci.iram_safe => sdkconfig.ci.cache_safe} (93%) diff --git a/components/esp_driver_gptimer/Kconfig b/components/esp_driver_gptimer/Kconfig index e3a26ff4d0..2fd9eb05eb 100644 --- a/components/esp_driver_gptimer/Kconfig +++ b/components/esp_driver_gptimer/Kconfig @@ -17,7 +17,7 @@ menu "ESP-Driver:GPTimer Configurations" If enabled, these functions can also be called when cache is disabled. config GPTIMER_ISR_CACHE_SAFE - bool "Allow GPTimer ISR to execute when cache is disabled" + bool "Allow GPTimer ISR to execute when cache is disabled" if !SPI_FLASH_AUTO_SUSPEND select GPTIMER_ISR_HANDLER_IN_IRAM default n help diff --git a/components/esp_driver_mcpwm/Kconfig b/components/esp_driver_mcpwm/Kconfig index a029daca9e..a033f62d0a 100644 --- a/components/esp_driver_mcpwm/Kconfig +++ b/components/esp_driver_mcpwm/Kconfig @@ -1,25 +1,44 @@ menu "ESP-Driver:MCPWM Configurations" depends on SOC_MCPWM_SUPPORTED - config MCPWM_ISR_IRAM_SAFE - bool "Place MCPWM ISR function into IRAM" - default n + + config MCPWM_ISR_HANDLER_IN_IRAM + bool "Place MCPWM ISR handler into IRAM to reduce latency" + default y + select MCPWM_OBJ_CACHE_SAFE help - This will ensure the MCPWM interrupt handle is IRAM-Safe, allow to avoid flash - cache misses, and also be able to run whilst the cache is disabled. - (e.g. SPI Flash write) + Place MCPWM ISR handler(s) in IRAM to reduce latency caused by cache miss. + + config MCPWM_ISR_CACHE_SAFE + bool "Allow MCPWM ISR to execute when cache is disabled" if !SPI_FLASH_AUTO_SUSPEND + default n + select MCPWM_ISR_HANDLER_IN_IRAM + help + Enable this option to allow the MCPWM Interrupt Service Routine (ISR) + to execute even when the cache is disabled. This can be useful in scenarios where the cache + might be turned off, but the MCPWM functionality is still required to operate correctly. config MCPWM_CTRL_FUNC_IN_IRAM - bool "Place MCPWM control functions into IRAM" + bool "Place MCPWM control functions in IRAM" + default n + select MCPWM_OBJ_CACHE_SAFE + help + Place MCPWM control functions in IRAM, to reduce latency caused by cache miss. + If enabled, these functions can also be called when cache is disabled. + + config MCPWM_OBJ_CACHE_SAFE + bool default n help - Place MCPWM control functions (like set_compare_value) into IRAM, - so that these functions can be IRAM-safe and able to be called in the other IRAM interrupt context. - Enabling this option can improve driver performance as well. + This will ensure the MCPWM object will not be allocated from a memory region + where its cache can be disabled. config MCPWM_ENABLE_DEBUG_LOG - bool "Enable debug log" + bool "Force enable debug log" default n help - whether to enable the debug log message for MCPWM driver. - Note that, this option only controls the MCPWM driver log, won't affect other drivers. + If enabled, MCPWM component will: + 1. ignore the global logging settings + 2. compile all log messages into the binary + 3. set the runtime log level to VERBOSE + Please enable this option with caution, as it will increase the binary size. endmenu diff --git a/components/esp_driver_mcpwm/linker.lf b/components/esp_driver_mcpwm/linker.lf index 7729fa00f1..fa8778eb0d 100644 --- a/components/esp_driver_mcpwm/linker.lf +++ b/components/esp_driver_mcpwm/linker.lf @@ -4,3 +4,9 @@ entries: if MCPWM_CTRL_FUNC_IN_IRAM = y: mcpwm_cmpr: mcpwm_comparator_set_compare_value (noflash) mcpwm_timer: mcpwm_timer_set_period (noflash) + if MCPWM_ISR_HANDLER_IN_IRAM = y: + mcpwm_cap: mcpwm_capture_default_isr (noflash) + mcpwm_cmpr: mcpwm_comparator_default_isr (noflash) + mcpwm_fault: mcpwm_gpio_fault_default_isr (noflash) + mcpwm_oper: mcpwm_operator_default_isr (noflash) + mcpwm_timer: mcpwm_timer_default_isr (noflash) diff --git a/components/esp_driver_mcpwm/sdkconfig.rename b/components/esp_driver_mcpwm/sdkconfig.rename new file mode 100644 index 0000000000..779895650a --- /dev/null +++ b/components/esp_driver_mcpwm/sdkconfig.rename @@ -0,0 +1,4 @@ +# sdkconfig replacement configurations for deprecated options formatted as +# CONFIG_DEPRECATED_OPTION CONFIG_NEW_OPTION + +CONFIG_MCPWM_ISR_IRAM_SAFE CONFIG_MCPWM_ISR_CACHE_SAFE diff --git a/components/esp_driver_mcpwm/src/mcpwm_cap.c b/components/esp_driver_mcpwm/src/mcpwm_cap.c index 4deec748a6..85635b2ff4 100644 --- a/components/esp_driver_mcpwm/src/mcpwm_cap.c +++ b/components/esp_driver_mcpwm/src/mcpwm_cap.c @@ -1,36 +1,17 @@ /* - * SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD + * SPDX-FileCopyrightText: 2022-2025 Espressif Systems (Shanghai) CO LTD * * SPDX-License-Identifier: Apache-2.0 */ -#include -#include -#include -#include "sdkconfig.h" -#if CONFIG_MCPWM_ENABLE_DEBUG_LOG -// The local log level must be defined before including esp_log.h -// Set the maximum log level for this source file -#define LOG_LOCAL_LEVEL ESP_LOG_DEBUG -#endif -#include "freertos/FreeRTOS.h" -#include "esp_attr.h" -#include "esp_check.h" +#include "mcpwm_private.h" #include "esp_private/esp_clk.h" #include "esp_clk_tree.h" -#include "esp_err.h" -#include "esp_log.h" #include "esp_memory_utils.h" -#include "soc/soc_caps.h" -#include "soc/mcpwm_periph.h" -#include "hal/mcpwm_ll.h" -#include "hal/gpio_hal.h" #include "driver/mcpwm_cap.h" #include "driver/gpio.h" -#include "mcpwm_private.h" #include "esp_private/gpio.h" - -static const char *TAG = "mcpwm"; +#include "hal/gpio_ll.h" static void mcpwm_capture_default_isr(void *args); @@ -85,9 +66,6 @@ static esp_err_t mcpwm_cap_timer_destroy(mcpwm_cap_timer_t *cap_timer) esp_err_t mcpwm_new_capture_timer(const mcpwm_capture_timer_config_t *config, mcpwm_cap_timer_handle_t *ret_cap_timer) { -#if CONFIG_MCPWM_ENABLE_DEBUG_LOG - esp_log_level_set(TAG, ESP_LOG_DEBUG); -#endif esp_err_t ret = ESP_OK; mcpwm_cap_timer_t *cap_timer = NULL; ESP_GOTO_ON_FALSE(config && ret_cap_timer, ESP_ERR_INVALID_ARG, err, TAG, "invalid argument"); @@ -403,7 +381,7 @@ esp_err_t mcpwm_capture_channel_register_event_callbacks(mcpwm_cap_channel_handl int group_id = group->group_id; int cap_chan_id = cap_channel->cap_chan_id; -#if CONFIG_MCPWM_ISR_IRAM_SAFE +#if CONFIG_MCPWM_ISR_CACHE_SAFE if (cbs->on_cap) { ESP_RETURN_ON_FALSE(esp_ptr_in_iram(cbs->on_cap), ESP_ERR_INVALID_ARG, TAG, "on_cap callback not in IRAM"); } @@ -488,7 +466,7 @@ esp_err_t mcpwm_capture_timer_set_phase_on_sync(mcpwm_cap_timer_handle_t cap_tim return ESP_OK; } -IRAM_ATTR static void mcpwm_capture_default_isr(void *args) +static void mcpwm_capture_default_isr(void *args) { mcpwm_cap_channel_t *cap_chan = (mcpwm_cap_channel_t *)args; mcpwm_group_t *group = cap_chan->cap_timer->group; diff --git a/components/esp_driver_mcpwm/src/mcpwm_cmpr.c b/components/esp_driver_mcpwm/src/mcpwm_cmpr.c index 307d0b026c..8965960b81 100644 --- a/components/esp_driver_mcpwm/src/mcpwm_cmpr.c +++ b/components/esp_driver_mcpwm/src/mcpwm_cmpr.c @@ -1,31 +1,12 @@ /* - * SPDX-FileCopyrightText: 2022-2023 Espressif Systems (Shanghai) CO LTD + * SPDX-FileCopyrightText: 2022-2025 Espressif Systems (Shanghai) CO LTD * * SPDX-License-Identifier: Apache-2.0 */ -#include -#include -#include -#include "sdkconfig.h" -#if CONFIG_MCPWM_ENABLE_DEBUG_LOG -// The local log level must be defined before including esp_log.h -// Set the maximum log level for this source file -#define LOG_LOCAL_LEVEL ESP_LOG_DEBUG -#endif -#include "freertos/FreeRTOS.h" -#include "esp_attr.h" -#include "esp_check.h" -#include "esp_err.h" -#include "esp_log.h" -#include "esp_memory_utils.h" -#include "soc/soc_caps.h" -#include "soc/mcpwm_periph.h" -#include "hal/mcpwm_ll.h" -#include "driver/mcpwm_cmpr.h" #include "mcpwm_private.h" - -static const char *TAG = "mcpwm"; +#include "esp_memory_utils.h" +#include "driver/mcpwm_cmpr.h" static void mcpwm_comparator_default_isr(void *args); @@ -239,7 +220,7 @@ esp_err_t mcpwm_comparator_register_event_callbacks(mcpwm_cmpr_handle_t cmpr, co int oper_id = oper->oper_id; int cmpr_id = cmpr->cmpr_id; -#if CONFIG_MCPWM_ISR_IRAM_SAFE +#if CONFIG_MCPWM_ISR_CACHE_SAFE if (cbs->on_reach) { ESP_RETURN_ON_FALSE(esp_ptr_in_iram(cbs->on_reach), ESP_ERR_INVALID_ARG, TAG, "on_reach callback not in IRAM"); } @@ -269,7 +250,7 @@ esp_err_t mcpwm_comparator_register_event_callbacks(mcpwm_cmpr_handle_t cmpr, co return ESP_OK; } -static void IRAM_ATTR mcpwm_comparator_default_isr(void *args) +static void mcpwm_comparator_default_isr(void *args) { mcpwm_oper_cmpr_t *cmpr = (mcpwm_oper_cmpr_t *)args; mcpwm_oper_t *oper = cmpr->base.oper; diff --git a/components/esp_driver_mcpwm/src/mcpwm_com.c b/components/esp_driver_mcpwm/src/mcpwm_com.c index 2564c0f2ea..6ece740fb5 100644 --- a/components/esp_driver_mcpwm/src/mcpwm_com.c +++ b/components/esp_driver_mcpwm/src/mcpwm_com.c @@ -1,26 +1,13 @@ /* - * SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD + * SPDX-FileCopyrightText: 2022-2025 Espressif Systems (Shanghai) CO LTD * * SPDX-License-Identifier: Apache-2.0 */ -#include -#include -#include "sdkconfig.h" -#if CONFIG_MCPWM_ENABLE_DEBUG_LOG -// The local log level must be defined before including esp_log.h -// Set the maximum log level for this source file -#define LOG_LOCAL_LEVEL ESP_LOG_DEBUG -#endif -#include "esp_log.h" -#include "esp_check.h" +#include "mcpwm_private.h" #include "esp_clk_tree.h" #include "esp_private/esp_clk_tree_common.h" #include "esp_private/periph_ctrl.h" -#include "soc/mcpwm_periph.h" -#include "soc/soc_caps.h" -#include "hal/mcpwm_ll.h" -#include "mcpwm_private.h" #include "esp_private/rtc_clk.h" #if SOC_PERIPH_CLK_CTRL_SHARED @@ -39,8 +26,6 @@ static esp_err_t mcpwm_create_sleep_retention_link_cb(void *arg); #endif -static const char *TAG = "mcpwm"; - typedef struct { _lock_t mutex; // platform level mutex lock mcpwm_group_t *groups[SOC_MCPWM_GROUPS]; // array of MCPWM group instances @@ -187,6 +172,7 @@ esp_err_t mcpwm_select_periph_clock(mcpwm_group_t *group, soc_module_clk_t clk_s esp_err_t ret = ESP_OK; bool clock_selection_conflict = false; bool do_clock_init = false; + int group_id = group->group_id; // check if we need to update the group clock source, group clock source is shared by all mcpwm modules portENTER_CRITICAL(&group->spinlock); if (group->clk_src == 0) { @@ -202,15 +188,20 @@ esp_err_t mcpwm_select_periph_clock(mcpwm_group_t *group, soc_module_clk_t clk_s if (do_clock_init) { #if CONFIG_PM_ENABLE - sprintf(group->pm_lock_name, "mcpwm_%d", group->group_id); // e.g. mcpwm_0 - ret = esp_pm_lock_create(ESP_PM_NO_LIGHT_SLEEP, 0, group->pm_lock_name, &group->pm_lock); + // to make the mcpwm works reliable, the source clock must stay alive and unchanged + esp_pm_lock_type_t pm_lock_type = ESP_PM_NO_LIGHT_SLEEP; +#if CONFIG_IDF_TARGET_ESP32 || CONFIG_IDF_TARGET_ESP32S3 + // on ESP32 and ESP32S3, MCPWM's clock source (PLL_160M) frequency is automatically reduced during DFS, resulting in an inaccurate time base + // thus we want to use the APB_MAX lock + pm_lock_type = ESP_PM_APB_FREQ_MAX; +#endif + ret = esp_pm_lock_create(pm_lock_type, 0, mcpwm_periph_signals.groups[group_id].module_name, &group->pm_lock); ESP_RETURN_ON_ERROR(ret, TAG, "create pm lock failed"); - ESP_LOGD(TAG, "install NO_LIGHT_SLEEP lock for MCPWM group(%d)", group->group_id); #endif // CONFIG_PM_ENABLE esp_clk_tree_enable_src((soc_module_clk_t)clk_src, true); MCPWM_CLOCK_SRC_ATOMIC() { - mcpwm_ll_group_set_clock_source(group->group_id, clk_src); + mcpwm_ll_group_set_clock_source(group_id, clk_src); } } return ret; @@ -314,3 +305,11 @@ void mcpwm_create_retention_module(mcpwm_group_t *group) _lock_release(&s_platform.mutex); } #endif // MCPWM_USE_RETENTION_LINK + +#if CONFIG_MCPWM_ENABLE_DEBUG_LOG +__attribute__((constructor)) +static void mcpwm_override_default_log_level(void) +{ + esp_log_level_set(TAG, ESP_LOG_VERBOSE); +} +#endif diff --git a/components/esp_driver_mcpwm/src/mcpwm_etm.c b/components/esp_driver_mcpwm/src/mcpwm_etm.c index da0b846267..bf1fe7e99f 100644 --- a/components/esp_driver_mcpwm/src/mcpwm_etm.c +++ b/components/esp_driver_mcpwm/src/mcpwm_etm.c @@ -1,27 +1,13 @@ /* - * SPDX-FileCopyrightText: 2023 Espressif Systems (Shanghai) CO LTD + * SPDX-FileCopyrightText: 2023-2025 Espressif Systems (Shanghai) CO LTD * * SPDX-License-Identifier: Apache-2.0 */ -#include -#include -#include -#include "sdkconfig.h" -#include "freertos/FreeRTOS.h" -#include "esp_attr.h" -#include "esp_check.h" -#include "esp_err.h" -#include "esp_log.h" -#include "soc/soc_caps.h" -#include "soc/mcpwm_periph.h" -#include "hal/mcpwm_ll.h" -#include "driver/mcpwm_etm.h" #include "mcpwm_private.h" +#include "driver/mcpwm_etm.h" #include "esp_private/etm_interface.h" -static const char *TAG = "mcpwm-etm"; - typedef struct { esp_etm_event_t base; mcpwm_cmpr_handle_t cmpr; diff --git a/components/esp_driver_mcpwm/src/mcpwm_fault.c b/components/esp_driver_mcpwm/src/mcpwm_fault.c index e8b641b423..0afeb85fa8 100644 --- a/components/esp_driver_mcpwm/src/mcpwm_fault.c +++ b/components/esp_driver_mcpwm/src/mcpwm_fault.c @@ -1,35 +1,16 @@ /* - * SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD + * SPDX-FileCopyrightText: 2022-2025 Espressif Systems (Shanghai) CO LTD * * SPDX-License-Identifier: Apache-2.0 */ -#include -#include -#include -#include "sdkconfig.h" -#if CONFIG_MCPWM_ENABLE_DEBUG_LOG -// The local log level must be defined before including esp_log.h -// Set the maximum log level for this source file -#define LOG_LOCAL_LEVEL ESP_LOG_DEBUG -#endif -#include "freertos/FreeRTOS.h" -#include "esp_attr.h" -#include "esp_check.h" -#include "esp_err.h" -#include "esp_log.h" +#include "mcpwm_private.h" #include "esp_memory_utils.h" -#include "soc/soc_caps.h" -#include "soc/mcpwm_periph.h" -#include "hal/mcpwm_ll.h" #include "hal/gpio_hal.h" #include "driver/mcpwm_fault.h" #include "driver/gpio.h" -#include "mcpwm_private.h" #include "esp_private/gpio.h" -static const char *TAG = "mcpwm"; - static void mcpwm_gpio_fault_default_isr(void *args); static esp_err_t mcpwm_del_gpio_fault(mcpwm_fault_handle_t fault); static esp_err_t mcpwm_del_soft_fault(mcpwm_fault_handle_t fault); @@ -87,9 +68,6 @@ static esp_err_t mcpwm_gpio_fault_destroy(mcpwm_gpio_fault_t *fault) esp_err_t mcpwm_new_gpio_fault(const mcpwm_gpio_fault_config_t *config, mcpwm_fault_handle_t *ret_fault) { -#if CONFIG_MCPWM_ENABLE_DEBUG_LOG - esp_log_level_set(TAG, ESP_LOG_DEBUG); -#endif esp_err_t ret = ESP_OK; mcpwm_gpio_fault_t *fault = NULL; ESP_GOTO_ON_FALSE(config && ret_fault, ESP_ERR_INVALID_ARG, err, TAG, "invalid argument"); @@ -253,7 +231,7 @@ esp_err_t mcpwm_fault_register_event_callbacks(mcpwm_fault_handle_t fault, const mcpwm_hal_context_t *hal = &group->hal; int fault_id = gpio_fault->fault_id; -#if CONFIG_MCPWM_ISR_IRAM_SAFE +#if CONFIG_MCPWM_ISR_CACHE_SAFE if (cbs->on_fault_enter) { ESP_RETURN_ON_FALSE(esp_ptr_in_iram(cbs->on_fault_enter), ESP_ERR_INVALID_ARG, TAG, "on_fault_enter callback not in IRAM"); } @@ -287,7 +265,7 @@ esp_err_t mcpwm_fault_register_event_callbacks(mcpwm_fault_handle_t fault, const return ESP_OK; } -static void IRAM_ATTR mcpwm_gpio_fault_default_isr(void *args) +static void mcpwm_gpio_fault_default_isr(void *args) { mcpwm_gpio_fault_t *fault = (mcpwm_gpio_fault_t *)args; mcpwm_group_t *group = fault->base.group; diff --git a/components/esp_driver_mcpwm/src/mcpwm_gen.c b/components/esp_driver_mcpwm/src/mcpwm_gen.c index 85ca5cb8f2..01c7f9ffbe 100644 --- a/components/esp_driver_mcpwm/src/mcpwm_gen.c +++ b/components/esp_driver_mcpwm/src/mcpwm_gen.c @@ -1,35 +1,16 @@ /* - * SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD + * SPDX-FileCopyrightText: 2022-2025 Espressif Systems (Shanghai) CO LTD * * SPDX-License-Identifier: Apache-2.0 */ -#include -#include -#include -#include "sdkconfig.h" -#if CONFIG_MCPWM_ENABLE_DEBUG_LOG -// The local log level must be defined before including esp_log.h -// Set the maximum log level for this source file -#define LOG_LOCAL_LEVEL ESP_LOG_DEBUG -#endif -#include "freertos/FreeRTOS.h" -#include "esp_attr.h" -#include "esp_check.h" -#include "esp_err.h" -#include "esp_log.h" -#include "soc/soc_caps.h" -#include "soc/mcpwm_periph.h" -#include "hal/mcpwm_ll.h" +#include "mcpwm_private.h" #include "hal/gpio_hal.h" #include "driver/gpio.h" #include "driver/mcpwm_gen.h" -#include "mcpwm_private.h" #include "esp_private/esp_gpio_reserve.h" #include "esp_private/gpio.h" -static const char *TAG = "mcpwm"; - static esp_err_t mcpwm_generator_register_to_operator(mcpwm_gen_t *gen, mcpwm_oper_t *oper) { int gen_id = -1; diff --git a/components/esp_driver_mcpwm/src/mcpwm_oper.c b/components/esp_driver_mcpwm/src/mcpwm_oper.c index fc40e0a751..125ba17cdb 100644 --- a/components/esp_driver_mcpwm/src/mcpwm_oper.c +++ b/components/esp_driver_mcpwm/src/mcpwm_oper.c @@ -1,31 +1,12 @@ /* - * SPDX-FileCopyrightText: 2022-2023 Espressif Systems (Shanghai) CO LTD + * SPDX-FileCopyrightText: 2022-2025 Espressif Systems (Shanghai) CO LTD * * SPDX-License-Identifier: Apache-2.0 */ -#include -#include -#include -#include "sdkconfig.h" -#if CONFIG_MCPWM_ENABLE_DEBUG_LOG -// The local log level must be defined before including esp_log.h -// Set the maximum log level for this source file -#define LOG_LOCAL_LEVEL ESP_LOG_DEBUG -#endif -#include "freertos/FreeRTOS.h" -#include "esp_attr.h" -#include "esp_check.h" -#include "esp_err.h" -#include "esp_log.h" -#include "esp_memory_utils.h" -#include "soc/soc_caps.h" -#include "soc/mcpwm_periph.h" -#include "hal/mcpwm_ll.h" -#include "driver/mcpwm_oper.h" #include "mcpwm_private.h" - -static const char *TAG = "mcpwm"; +#include "esp_memory_utils.h" +#include "driver/mcpwm_oper.h" static void mcpwm_operator_default_isr(void *args); @@ -82,9 +63,6 @@ static esp_err_t mcpwm_operator_destroy(mcpwm_oper_t *oper) esp_err_t mcpwm_new_operator(const mcpwm_operator_config_t *config, mcpwm_oper_handle_t *ret_oper) { -#if CONFIG_MCPWM_ENABLE_DEBUG_LOG - esp_log_level_set(TAG, ESP_LOG_DEBUG); -#endif esp_err_t ret = ESP_OK; mcpwm_oper_t *oper = NULL; ESP_GOTO_ON_FALSE(config && ret_oper, ESP_ERR_INVALID_ARG, err, TAG, "invalid argument"); @@ -240,7 +218,7 @@ esp_err_t mcpwm_operator_register_event_callbacks(mcpwm_oper_handle_t oper, cons int group_id = group->group_id; int oper_id = oper->oper_id; -#if CONFIG_MCPWM_ISR_IRAM_SAFE +#if CONFIG_MCPWM_ISR_CACHE_SAFE if (cbs->on_brake_cbc) { ESP_RETURN_ON_FALSE(esp_ptr_in_iram(cbs->on_brake_cbc), ESP_ERR_INVALID_ARG, TAG, "on_brake_cbc callback not in IRAM"); } @@ -348,7 +326,7 @@ esp_err_t mcpwm_operator_recover_from_fault(mcpwm_oper_handle_t oper, mcpwm_faul return ESP_OK; } -static void IRAM_ATTR mcpwm_operator_default_isr(void *args) +static void mcpwm_operator_default_isr(void *args) { mcpwm_oper_t *oper = (mcpwm_oper_t *)args; mcpwm_group_t *group = oper->group; diff --git a/components/esp_driver_mcpwm/src/mcpwm_private.h b/components/esp_driver_mcpwm/src/mcpwm_private.h index 0a51d6e070..e8cb1ccbbc 100644 --- a/components/esp_driver_mcpwm/src/mcpwm_private.h +++ b/components/esp_driver_mcpwm/src/mcpwm_private.h @@ -1,5 +1,5 @@ /* - * SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD + * SPDX-FileCopyrightText: 2022-2025 Espressif Systems (Shanghai) CO LTD * * SPDX-License-Identifier: Apache-2.0 */ @@ -7,14 +7,28 @@ #pragma once #include +#include +#include +#include +#include #include "sdkconfig.h" +#if CONFIG_MCPWM_ENABLE_DEBUG_LOG +// The local log level must be defined before including esp_log.h +// Set the maximum log level for this source file +#define LOG_LOCAL_LEVEL ESP_LOG_DEBUG +#endif +#include "soc/soc_caps.h" #include "freertos/FreeRTOS.h" #include "esp_err.h" +#include "esp_log.h" +#include "esp_check.h" #include "esp_intr_alloc.h" #include "esp_heap_caps.h" #include "esp_pm.h" -#include "soc/soc_caps.h" +#include "soc/io_mux_reg.h" +#include "soc/mcpwm_periph.h" #include "hal/mcpwm_hal.h" +#include "hal/mcpwm_ll.h" #include "hal/mcpwm_types.h" #include "driver/mcpwm_types.h" #include "esp_private/sleep_retention.h" @@ -23,13 +37,13 @@ extern "C" { #endif -#if CONFIG_MCPWM_ISR_IRAM_SAFE || CONFIG_MCPWM_CTRL_FUNC_IN_IRAM +#if CONFIG_MCPWM_OBJ_CACHE_SAFE #define MCPWM_MEM_ALLOC_CAPS (MALLOC_CAP_INTERNAL | MALLOC_CAP_8BIT) #else #define MCPWM_MEM_ALLOC_CAPS MALLOC_CAP_DEFAULT #endif -#if CONFIG_MCPWM_ISR_IRAM_SAFE +#if CONFIG_MCPWM_ISR_CACHE_SAFE #define MCPWM_INTR_ALLOC_FLAG (ESP_INTR_FLAG_SHARED | ESP_INTR_FLAG_INTRDISABLED | ESP_INTR_FLAG_IRAM) #else #define MCPWM_INTR_ALLOC_FLAG (ESP_INTR_FLAG_SHARED | ESP_INTR_FLAG_INTRDISABLED) @@ -41,7 +55,9 @@ extern "C" { #define MCPWM_ALLOW_INTR_PRIORITY_MASK ESP_INTR_FLAG_LOWMED #define MCPWM_GROUP_CLOCK_DEFAULT_PRESCALE 2 -#define MCPWM_PM_LOCK_NAME_LEN_MAX 16 + +///!< Logging settings +#define TAG "mcpwm" typedef struct mcpwm_group_t mcpwm_group_t; typedef struct mcpwm_timer_t mcpwm_timer_t; @@ -74,9 +90,6 @@ struct mcpwm_group_t { mcpwm_oper_t *operators[SOC_MCPWM_OPERATORS_PER_GROUP]; // mcpwm operator array mcpwm_gpio_fault_t *gpio_faults[SOC_MCPWM_GPIO_FAULTS_PER_GROUP]; // mcpwm fault detectors array mcpwm_gpio_sync_src_t *gpio_sync_srcs[SOC_MCPWM_GPIO_SYNCHROS_PER_GROUP]; // mcpwm gpio sync array -#if CONFIG_PM_ENABLE - char pm_lock_name[MCPWM_PM_LOCK_NAME_LEN_MAX]; // pm lock name -#endif }; typedef enum { diff --git a/components/esp_driver_mcpwm/src/mcpwm_sync.c b/components/esp_driver_mcpwm/src/mcpwm_sync.c index 49e30e24df..92f295cadf 100644 --- a/components/esp_driver_mcpwm/src/mcpwm_sync.c +++ b/components/esp_driver_mcpwm/src/mcpwm_sync.c @@ -4,32 +4,12 @@ * SPDX-License-Identifier: Apache-2.0 */ -#include -#include -#include -#include "sdkconfig.h" -#if CONFIG_MCPWM_ENABLE_DEBUG_LOG -// The local log level must be defined before including esp_log.h -// Set the maximum log level for this source file -#define LOG_LOCAL_LEVEL ESP_LOG_DEBUG -#endif -#include "freertos/FreeRTOS.h" -#include "esp_attr.h" -#include "esp_check.h" -#include "esp_err.h" -#include "esp_log.h" -#include "esp_memory_utils.h" -#include "soc/soc_caps.h" -#include "soc/mcpwm_periph.h" -#include "hal/mcpwm_ll.h" +#include "mcpwm_private.h" #include "hal/gpio_hal.h" #include "driver/mcpwm_sync.h" #include "driver/gpio.h" -#include "mcpwm_private.h" #include "esp_private/gpio.h" -static const char *TAG = "mcpwm"; - static esp_err_t mcpwm_del_timer_sync_src(mcpwm_sync_t *sync_src); static esp_err_t mcpwm_del_gpio_sync_src(mcpwm_sync_t *sync_src); static esp_err_t mcpwm_del_soft_sync_src(mcpwm_sync_t *sync_src); @@ -176,9 +156,6 @@ static esp_err_t mcpwm_gpio_sync_src_destroy(mcpwm_gpio_sync_src_t *gpio_sync_sr esp_err_t mcpwm_new_gpio_sync_src(const mcpwm_gpio_sync_src_config_t *config, mcpwm_sync_handle_t *ret_sync) { -#if CONFIG_MCPWM_ENABLE_DEBUG_LOG - esp_log_level_set(TAG, ESP_LOG_DEBUG); -#endif esp_err_t ret = ESP_OK; mcpwm_gpio_sync_src_t *gpio_sync_src = NULL; ESP_GOTO_ON_FALSE(config && ret_sync, ESP_ERR_INVALID_ARG, err, TAG, "invalid argument"); diff --git a/components/esp_driver_mcpwm/src/mcpwm_timer.c b/components/esp_driver_mcpwm/src/mcpwm_timer.c index 8acedf36ab..7dd06af45d 100644 --- a/components/esp_driver_mcpwm/src/mcpwm_timer.c +++ b/components/esp_driver_mcpwm/src/mcpwm_timer.c @@ -1,32 +1,14 @@ /* - * SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD + * SPDX-FileCopyrightText: 2022-2025 Espressif Systems (Shanghai) CO LTD * * SPDX-License-Identifier: Apache-2.0 */ -#include -#include -#include -#include "sdkconfig.h" -#if CONFIG_MCPWM_ENABLE_DEBUG_LOG -// The local log level must be defined before including esp_log.h -// Set the maximum log level for this source file -#define LOG_LOCAL_LEVEL ESP_LOG_DEBUG -#endif -#include "freertos/FreeRTOS.h" -#include "esp_attr.h" -#include "esp_check.h" -#include "esp_err.h" -#include "esp_log.h" +#include "mcpwm_private.h" #include "esp_memory_utils.h" -#include "soc/soc_caps.h" -#include "soc/mcpwm_periph.h" #include "hal/mcpwm_ll.h" #include "driver/mcpwm_timer.h" #include "esp_private/mcpwm.h" -#include "mcpwm_private.h" - -static const char *TAG = "mcpwm"; static void mcpwm_timer_default_isr(void *args); @@ -83,9 +65,6 @@ static esp_err_t mcpwm_timer_destroy(mcpwm_timer_t *timer) esp_err_t mcpwm_new_timer(const mcpwm_timer_config_t *config, mcpwm_timer_handle_t *ret_timer) { -#if CONFIG_MCPWM_ENABLE_DEBUG_LOG - esp_log_level_set(TAG, ESP_LOG_DEBUG); -#endif esp_err_t ret = ESP_OK; mcpwm_timer_t *timer = NULL; ESP_GOTO_ON_FALSE(config && ret_timer, ESP_ERR_INVALID_ARG, err, TAG, "invalid argument"); @@ -211,7 +190,7 @@ esp_err_t mcpwm_timer_register_event_callbacks(mcpwm_timer_handle_t timer, const int timer_id = timer->timer_id; mcpwm_hal_context_t *hal = &group->hal; -#if CONFIG_MCPWM_ISR_IRAM_SAFE +#if CONFIG_MCPWM_ISR_CACHE_SAFE if (cbs->on_empty) { ESP_RETURN_ON_FALSE(esp_ptr_in_iram(cbs->on_empty), ESP_ERR_INVALID_ARG, TAG, "on_empty callback not in IRAM"); } @@ -369,7 +348,7 @@ esp_err_t mcpwm_timer_set_phase_on_sync(mcpwm_timer_handle_t timer, const mcpwm_ return ESP_OK; } -static void IRAM_ATTR mcpwm_timer_default_isr(void *args) +static void mcpwm_timer_default_isr(void *args) { mcpwm_timer_t *timer = (mcpwm_timer_t *)args; mcpwm_group_t *group = timer->group; diff --git a/components/esp_driver_mcpwm/test_apps/mcpwm/main/CMakeLists.txt b/components/esp_driver_mcpwm/test_apps/mcpwm/main/CMakeLists.txt index a0c442b290..232f3c1e9e 100644 --- a/components/esp_driver_mcpwm/test_apps/mcpwm/main/CMakeLists.txt +++ b/components/esp_driver_mcpwm/test_apps/mcpwm/main/CMakeLists.txt @@ -9,7 +9,7 @@ set(srcs "test_app_main.c" "test_mcpwm_common.c" "test_mcpwm_utils.c") -if(CONFIG_MCPWM_ISR_IRAM_SAFE) +if(CONFIG_MCPWM_ISR_CACHE_SAFE) list(APPEND srcs "test_mcpwm_iram.c") endif() diff --git a/components/esp_driver_mcpwm/test_apps/mcpwm/main/test_mcpwm_utils.h b/components/esp_driver_mcpwm/test_apps/mcpwm/main/test_mcpwm_utils.h index 7dee722b8c..cb1bbf4bd3 100644 --- a/components/esp_driver_mcpwm/test_apps/mcpwm/main/test_mcpwm_utils.h +++ b/components/esp_driver_mcpwm/test_apps/mcpwm/main/test_mcpwm_utils.h @@ -34,11 +34,11 @@ extern "C" { #define TEST_SYNC_GPIO 13 #endif -#if CONFIG_MCPWM_ISR_IRAM_SAFE +#if CONFIG_MCPWM_ISR_CACHE_SAFE #define TEST_MCPWM_CALLBACK_ATTR IRAM_ATTR #else #define TEST_MCPWM_CALLBACK_ATTR -#endif // CONFIG_MCPWM_ISR_IRAM_SAFE +#endif // CONFIG_MCPWM_ISR_CACHE_SAFE void check_mcpwm_timer_phase(mcpwm_timer_handle_t *timers, size_t num_timers, uint32_t expected_count, mcpwm_timer_direction_t expected_direction); diff --git a/components/esp_driver_mcpwm/test_apps/mcpwm/pytest_mcpwm.py b/components/esp_driver_mcpwm/test_apps/mcpwm/pytest_mcpwm.py index e200d22e5c..8d910fffa8 100644 --- a/components/esp_driver_mcpwm/test_apps/mcpwm/pytest_mcpwm.py +++ b/components/esp_driver_mcpwm/test_apps/mcpwm/pytest_mcpwm.py @@ -10,7 +10,7 @@ from pytest_embedded_idf.utils import idf_parametrize 'config', [ 'release', - 'iram_safe', + 'cache_safe', ], indirect=True, ) diff --git a/components/esp_driver_mcpwm/test_apps/mcpwm/sdkconfig.ci.iram_safe b/components/esp_driver_mcpwm/test_apps/mcpwm/sdkconfig.ci.cache_safe similarity index 93% rename from components/esp_driver_mcpwm/test_apps/mcpwm/sdkconfig.ci.iram_safe rename to components/esp_driver_mcpwm/test_apps/mcpwm/sdkconfig.ci.cache_safe index 48d7bef34a..a83ae4a97a 100644 --- a/components/esp_driver_mcpwm/test_apps/mcpwm/sdkconfig.ci.iram_safe +++ b/components/esp_driver_mcpwm/test_apps/mcpwm/sdkconfig.ci.cache_safe @@ -1,5 +1,5 @@ CONFIG_COMPILER_DUMP_RTL_FILES=y -CONFIG_MCPWM_ISR_IRAM_SAFE=y +CONFIG_MCPWM_ISR_CACHE_SAFE=y CONFIG_MCPWM_CTRL_FUNC_IN_IRAM=y CONFIG_GPIO_CTRL_FUNC_IN_IRAM=y CONFIG_COMPILER_OPTIMIZATION_NONE=y diff --git a/components/esp_driver_mcpwm/test_apps/mcpwm/sdkconfig.ci.release b/components/esp_driver_mcpwm/test_apps/mcpwm/sdkconfig.ci.release index 17aaee1e8e..1a87ebbb4a 100644 --- a/components/esp_driver_mcpwm/test_apps/mcpwm/sdkconfig.ci.release +++ b/components/esp_driver_mcpwm/test_apps/mcpwm/sdkconfig.ci.release @@ -1,6 +1,7 @@ CONFIG_PM_ENABLE=y CONFIG_FREERTOS_USE_TICKLESS_IDLE=y CONFIG_PM_POWER_DOWN_PERIPHERAL_IN_LIGHT_SLEEP=y +CONFIG_PM_DFS_INIT_AUTO=y CONFIG_COMPILER_OPTIMIZATION_SIZE=y CONFIG_BOOTLOADER_COMPILER_OPTIMIZATION_SIZE=y CONFIG_COMPILER_OPTIMIZATION_ASSERTIONS_SILENT=y diff --git a/components/esp_driver_pcnt/test_apps/pulse_cnt/sdkconfig.ci.release b/components/esp_driver_pcnt/test_apps/pulse_cnt/sdkconfig.ci.release index 17aaee1e8e..b9a047d536 100644 --- a/components/esp_driver_pcnt/test_apps/pulse_cnt/sdkconfig.ci.release +++ b/components/esp_driver_pcnt/test_apps/pulse_cnt/sdkconfig.ci.release @@ -1,5 +1,6 @@ CONFIG_PM_ENABLE=y CONFIG_FREERTOS_USE_TICKLESS_IDLE=y +CONFIG_PM_DFS_INIT_AUTO=y CONFIG_PM_POWER_DOWN_PERIPHERAL_IN_LIGHT_SLEEP=y CONFIG_COMPILER_OPTIMIZATION_SIZE=y CONFIG_BOOTLOADER_COMPILER_OPTIMIZATION_SIZE=y diff --git a/components/soc/esp32/mcpwm_periph.c b/components/soc/esp32/mcpwm_periph.c index 61fcf07a1c..e2a8e68072 100644 --- a/components/soc/esp32/mcpwm_periph.c +++ b/components/soc/esp32/mcpwm_periph.c @@ -11,7 +11,7 @@ const mcpwm_signal_conn_t mcpwm_periph_signals = { .groups = { [0] = { - .module = PERIPH_PWM0_MODULE, + .module_name = "MCPWM0", .irq_id = ETS_PWM0_INTR_SOURCE, .operators = { [0] = { @@ -80,7 +80,7 @@ const mcpwm_signal_conn_t mcpwm_periph_signals = { } }, [1] = { - .module = PERIPH_PWM1_MODULE, + .module_name = "MCPWM1", .irq_id = ETS_PWM1_INTR_SOURCE, .operators = { [0] = { diff --git a/components/soc/esp32c5/mcpwm_periph.c b/components/soc/esp32c5/mcpwm_periph.c index aff88c7ab2..265875b6ad 100644 --- a/components/soc/esp32c5/mcpwm_periph.c +++ b/components/soc/esp32c5/mcpwm_periph.c @@ -12,7 +12,7 @@ const mcpwm_signal_conn_t mcpwm_periph_signals = { .groups = { [0] = { - .module = PERIPH_MCPWM0_MODULE, + .module_name = "MCPWM0", .irq_id = ETS_MCPWM0_INTR_SOURCE, .operators = { [0] = { diff --git a/components/soc/esp32c6/mcpwm_periph.c b/components/soc/esp32c6/mcpwm_periph.c index 2b89d47641..468d0bb667 100644 --- a/components/soc/esp32c6/mcpwm_periph.c +++ b/components/soc/esp32c6/mcpwm_periph.c @@ -12,7 +12,7 @@ const mcpwm_signal_conn_t mcpwm_periph_signals = { .groups = { [0] = { - .module = PERIPH_MCPWM0_MODULE, + .module_name = "MCPWM0", .irq_id = ETS_MCPWM0_INTR_SOURCE, .operators = { [0] = { diff --git a/components/soc/esp32h2/mcpwm_periph.c b/components/soc/esp32h2/mcpwm_periph.c index 0f8161570b..d1cefe4814 100644 --- a/components/soc/esp32h2/mcpwm_periph.c +++ b/components/soc/esp32h2/mcpwm_periph.c @@ -12,7 +12,7 @@ const mcpwm_signal_conn_t mcpwm_periph_signals = { .groups = { [0] = { - .module = PERIPH_MCPWM0_MODULE, + .module_name = "MCPWM0", .irq_id = ETS_MCPWM0_INTR_SOURCE, .operators = { [0] = { diff --git a/components/soc/esp32p4/mcpwm_periph.c b/components/soc/esp32p4/mcpwm_periph.c index 60cf13f103..04dfbf9c29 100644 --- a/components/soc/esp32p4/mcpwm_periph.c +++ b/components/soc/esp32p4/mcpwm_periph.c @@ -12,7 +12,7 @@ const mcpwm_signal_conn_t mcpwm_periph_signals = { .groups = { [0] = { - .module = PERIPH_MCPWM0_MODULE, + .module_name = "MCPWM0", .irq_id = ETS_PWM0_INTR_SOURCE, .operators = { [0] = { @@ -81,7 +81,7 @@ const mcpwm_signal_conn_t mcpwm_periph_signals = { } }, [1] = { - .module = PERIPH_MCPWM1_MODULE, + .module_name = "MCPWM1", .irq_id = ETS_PWM1_INTR_SOURCE, .operators = { [0] = { diff --git a/components/soc/esp32s3/mcpwm_periph.c b/components/soc/esp32s3/mcpwm_periph.c index 61fcf07a1c..e2a8e68072 100644 --- a/components/soc/esp32s3/mcpwm_periph.c +++ b/components/soc/esp32s3/mcpwm_periph.c @@ -11,7 +11,7 @@ const mcpwm_signal_conn_t mcpwm_periph_signals = { .groups = { [0] = { - .module = PERIPH_PWM0_MODULE, + .module_name = "MCPWM0", .irq_id = ETS_PWM0_INTR_SOURCE, .operators = { [0] = { @@ -80,7 +80,7 @@ const mcpwm_signal_conn_t mcpwm_periph_signals = { } }, [1] = { - .module = PERIPH_PWM1_MODULE, + .module_name = "MCPWM1", .irq_id = ETS_PWM1_INTR_SOURCE, .operators = { [0] = { diff --git a/components/soc/include/soc/mcpwm_periph.h b/components/soc/include/soc/mcpwm_periph.h index 12309f208f..15afdbfc72 100644 --- a/components/soc/include/soc/mcpwm_periph.h +++ b/components/soc/include/soc/mcpwm_periph.h @@ -21,7 +21,7 @@ extern "C" { #if SOC_MCPWM_SUPPORTED typedef struct { struct { - const periph_module_t module; // Peripheral module + const char *module_name; const int irq_id; struct { struct { diff --git a/docs/en/api-reference/peripherals/mcpwm.rst b/docs/en/api-reference/peripherals/mcpwm.rst index d6fd611d53..386ef93136 100644 --- a/docs/en/api-reference/peripherals/mcpwm.rst +++ b/docs/en/api-reference/peripherals/mcpwm.rst @@ -989,7 +989,7 @@ IRAM Safe By default, the MCPWM interrupt will be deferred when the Cache is disabled for reasons like writing/erasing Flash. Thus the event callback functions will not get executed in time, which is not expected in a real-time application. -There is a Kconfig option :ref:`CONFIG_MCPWM_ISR_IRAM_SAFE` that: +There is a Kconfig option :ref:`CONFIG_MCPWM_ISR_CACHE_SAFE` that: * enables the interrupt to be serviced even when the cache is disabled * places all functions used by the ISR into IRAM [2]_ @@ -1023,7 +1023,7 @@ Other functions that are not related to `Resource Allocation and Initialization Kconfig Options ^^^^^^^^^^^^^^^ -- :ref:`CONFIG_MCPWM_ISR_IRAM_SAFE` controls whether the default ISR handler can work when the cache is disabled, see :ref:`mcpwm-iram-safe` for more information. +- :ref:`CONFIG_MCPWM_ISR_CACHE_SAFE` controls whether the default ISR handler can work when the cache is disabled, see :ref:`mcpwm-iram-safe` for more information. - :ref:`CONFIG_MCPWM_CTRL_FUNC_IN_IRAM` controls where to place the MCPWM control functions (IRAM or flash), see :ref:`mcpwm-iram-safe` for more information. - :ref:`CONFIG_MCPWM_ENABLE_DEBUG_LOG` is used to enable the debug log output. Enabling this option will increase the firmware binary size. diff --git a/docs/zh_CN/api-reference/peripherals/mcpwm.rst b/docs/zh_CN/api-reference/peripherals/mcpwm.rst index e91e906205..83df7c595c 100644 --- a/docs/zh_CN/api-reference/peripherals/mcpwm.rst +++ b/docs/zh_CN/api-reference/peripherals/mcpwm.rst @@ -989,7 +989,7 @@ IRAM 安全 默认情况下，禁用 cache 时，写入/擦除 flash 等原因将导致 MCPWM 中断延迟，事件回调函数也将延迟执行。在实时应用程序中，应避免此类情况。 -因此，可以启用 Kconfig 选项 :ref:`CONFIG_MCPWM_ISR_IRAM_SAFE`，该选项： +因此，可以启用 Kconfig 选项 :ref:`CONFIG_MCPWM_ISR_CACHE_SAFE`，该选项： * 支持在禁用 cache 时启用所需中断 * 支持将 ISR 使用的所有函数存放在 IRAM 中 [2]_ @@ -1023,7 +1023,7 @@ IRAM 安全 Kconfig 选项 ^^^^^^^^^^^^^^^ -- :ref:`CONFIG_MCPWM_ISR_IRAM_SAFE` 控制默认 ISR 处理程序能否在禁用 cache 的情况下工作。更多信息请参见 :ref:`mcpwm-iram-safe`。 +- :ref:`CONFIG_MCPWM_ISR_CACHE_SAFE` 控制默认 ISR 处理程序能否在禁用 cache 的情况下工作。更多信息请参见 :ref:`mcpwm-iram-safe`。 - :ref:`CONFIG_MCPWM_CTRL_FUNC_IN_IRAM` 控制 MCPWM 控制函数的存放位置（IRAM 或 flash）。更多信息请参见 :ref:`mcpwm-iram-safe`。 - :ref:`CONFIG_MCPWM_ENABLE_DEBUG_LOG` 用于启用调试日志输出。启用此选项将增加固件的二进制文件大小。